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Sub: Accept position_target_global_int for depth control in ALT_HOLD

This commit is contained in:
Willian Galvani 2019-08-07 13:02:23 -03:00 committed by Jacob Walser
parent 06e71b061a
commit c509b1caa2
1 changed files with 9 additions and 2 deletions
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11
ArduSub/GCS_Mavlink.cpp
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@ -659,8 +659,10 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
mavlink_set_position_target_global_int_t packet;
mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((sub.control_mode != GUIDED) && !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)) {
// exit if vehicle is not in Guided, Auto-Guided, or Depth Hold modes
if ((sub.control_mode != GUIDED)
&& !(sub.control_mode == AUTO && sub.auto_mode == Auto_NavGuided)
&& !(sub.control_mode == ALT_HOLD)) {
break;
}
@ -675,6 +677,11 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
* bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
*/
if (!pos_ignore && sub.control_mode == ALT_HOLD) { // Control only target depth when in ALT_HOLD
sub.pos_control.set_alt_target(packet.alt*100);
break;
}
Vector3f pos_neu_cm; // position (North, East, Up coordinates) in centimeters
if (!pos_ignore) {